Fawkes API  Fawkes Development Version
led_thread.h
1 
2 /***************************************************************************
3  * led_thread.h - Provide NaoQi LEDs to Fawkes
4  *
5  * Created: Thu Jun 30 19:49:00 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_NAO_LED_THREAD_H_
24 #define _PLUGINS_NAO_LED_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <blackboard/interface_listener.h>
31 #include <core/threading/thread.h>
32 #include <core/utils/lock_multimap.h>
33 #include <plugins/nao/aspect/naoqi.h>
34 
35 #include <string>
36 #include <utility>
37 
38 namespace fawkes {
39 class LedInterface;
40 }
41 namespace AL {
42 class ALMemoryFastAccess;
43 }
44 
46  public fawkes::LoggingAspect,
50  public fawkes::NaoQiAspect,
52 {
53 public:
55  virtual ~NaoQiLedThread();
56 
57  virtual void init();
58  virtual void loop();
59  virtual void finalize();
60 
61  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
62 protected:
63  virtual void
64  run()
65  {
66  Thread::run();
67  }
68 
69 protected:
71  fawkes::Message * message) throw();
72 
73 private:
74  AL::ALPtr<AL::DCMProxy> dcm_;
75  AL::ALPtr<AL::ALMemoryProxy> almem_;
76  AL::ALPtr<AL::ALMemoryFastAccess> memfa_;
77 
78  std::vector<float> values_;
79 
80  typedef std::multimap<fawkes::LedInterface *, unsigned int> LedMemMap;
81  LedMemMap memids_;
82 
84  LedMap leds_;
85 
86  bool cfg_verbose_face_;
87  std::string subd_prefix_;
88 };
89 
90 #endif
Thread to synchronize with LEDs.
Definition: led_thread.h:52
virtual void finalize()
Finalize the thread.
Definition: led_thread.cpp:387
bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
Definition: led_thread.cpp:432
virtual ~NaoQiLedThread()
Destructor.
Definition: led_thread.cpp:138
NaoQiLedThread()
Constructor.
Definition: led_thread.cpp:130
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: led_thread.h:64
virtual void loop()
Code to execute in the thread.
Definition: led_thread.cpp:405
virtual void init()
Initialize the thread.
Definition: led_thread.cpp:143
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
BlackBoard interface listener.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
Thread aspect to log output.
Definition: logging.h:33
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:45
Thread aspect to get access to NaoQi broker.
Definition: naoqi.h:36
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.